다중 로봇의 네이버기준 편대제어
Neighbor-Referenced Coordination of Multi-robot Formations
2
조회
0
다운로드
1
인용
0
참고문헌
키워드
초록
This paper presents a decentralized coordination for a small-scale mobile robot teams performing a task through cooperation. Robot teams are required to generate and maintain various geometric patterns adapting to an environment and/or a task in many cooperative applications. In particular, all robots must continue to strive toward achieving the team’s mission even if some members fail to perform their role. Toward this end, given the number of robots in a team, an effective coordination is investigated for decentralized formation control strategies. Specifically, all members are required first to reach agreement on their coordinate system and have an identifier (ID) for role assignment in a self-organizing way. Then, employing IDs on individual robots within a common coordinate system, a decentralized neighbor-referenced formation control is realized to generate, keep, and switch between different geometric shapes. This approach is verified using an in-house simulator and physical mobile robots. We detail and evaluate the formation control approach, whose common features include self-organization, robustness, and flexibility.
Abstract
This paper presents a decentralized coordination for a small-scale mobile robot teams performing a task through cooperation. Robot teams are required to generate and maintain various geometric patterns adapting to an environment and/or a task in many cooperative applications. In particular, all robots must continue to strive toward achieving the team’s mission even if some members fail to perform their role. Toward this end, given the number of robots in a team, an effective coordination is investigated for decentralized formation control strategies. Specifically, all members are required first to reach agreement on their coordinate system and have an identifier (ID) for role assignment in a self-organizing way. Then, employing IDs on individual robots within a common coordinate system, a decentralized neighbor-referenced formation control is realized to generate, keep, and switch between different geometric shapes. This approach is verified using an in-house simulator and physical mobile robots. We detail and evaluate the formation control approach, whose common features include self-organization, robustness, and flexibility.
참고문헌 (12)
- Y. Ikemoto, "Graduated spatial pattern formation of robot group", Information Sciences, 171(4), pp.431~445 (2005)
- I. Suzuki, "Distributed anonymous mobile robots:formation of geometric patterns", SIAM Jour. of Computing, 28(4), pp.1347~1363 (1999)
- K. Fujibayashi, "Self-organizing formation algorithm for active elements", Proc. 21st IEEE Sym. on Reliable Distributed Systems (2002)
- T. Balch, "Behavior-based formation control for multi-robot teams", IEEE Tran. on Robotics and Automation, 14(6), pp.926~939 (1998)
- V. Gervasi, "Coordination without communication: the case of the flocking problem", Discrete Applied Mathematics, 143(3), pp.203~223 (2003)
- L. E. Parker, "Tightly-coupled navigation assistance in heterogeneous multi-robot teams", Proc. IEEE, 2004, 1016~1022
- R. Vidal, "Following the flock", IEEE Robotics and Automation Mag, 11, pp.14~20 (2004)
- D. Kurabayashi, "Obstacle avoidance of a mobile robot group using a nonlinear oscillator network", Proc. IEEE, 2006, ~
- J.P.Desai, "A graph theoretic approach for modeling mobile robot team formations of robots", Jour. of Robotic Systems, 19(11), pp.511~525 (2002)
- J. Fredslund, "A general algorithm for robot formations using local sensing and minimal communication", IEEE Trans. on Robotics and Automation, 18(6), pp.837~346 (2002)
- M. Lemay, "Autonomous initialization of robot formations", Proc. IEEE, 2004, ~
- G. Lee, "Decentralized formation control for a team of anonymous mobile robots", Proc. 6th Asian Control Conference, pp.971~976 (2006)